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Most taur forms walk on four legs, but some have more, such as hextaurs, a taur with six legs. They may have three pairs of legs on one lower feral torso, or across it and the humanoid one (they may be also considered multifurry).

In addition to the classical centaurs found in Greek and Roman mythology, one finds many instances of taurs in fantasy and science fiction.

Poul Anderson's David Falkayne stories of the Polesotechnic League features Wodenites, which are saurian-based quadrupeds with upright torsos. He also created the sapient life-form of Ishtar, depicted in Fire Time as a vaguely felinoid race.

In Iain M. Banks's Look to Windward some of the main characters are Chelgrian, a race of cougartaur-like creatures. Evolution have caused the Chelgrian middle pair of digits to have fused into a single wide digit.